obstacle-avoiding-car/lib/CarDriver/CarDriver.cpp

#include <CarDriver.h>

boolean goesForward = false;

NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
Servo servo_motor; 

void setupCar() {
  pinMode(RightMotorForward, OUTPUT);
  pinMode(LeftMotorForward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);
  pinMode(RightMotorBackward, OUTPUT);
  
  servo_motor.attach(ServoPin); //our servo pin
  servo_motor.write(115);
  delay(2000);
  getPingDistance();
  delay(100);
  getPingDistance();
  delay(100);
  getPingDistance();
  delay(100);
  getPingDistance();
  delay(100);
}

int lookRight() {  
  servo_motor.write(50);
  delay(500);
  int distance = getPingDistance();
  delay(100);
  servo_motor.write(115);
  return distance;
}

int lookLeft() {
  servo_motor.write(170);
  delay(500);
  int distance = getPingDistance();
  delay(100);
  servo_motor.write(115);
  delay(100);
  return distance;
}

int getPingDistance() {
  delay(70);
  int cm = sonar.ping_cm();
  if(cm == 0) {
    return maximum_distance;
  }
  return cm;
}

void moveStop() {
  digitalWrite(RightMotorForward, LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorBackward, LOW);
  digitalWrite(LeftMotorBackward, LOW);
}

void moveForward() {
  if(!goesForward) {
    goesForward = true;
    
    digitalWrite(LeftMotorForward, HIGH);
    digitalWrite(RightMotorForward, HIGH);
  
    digitalWrite(LeftMotorBackward, LOW);
    digitalWrite(RightMotorBackward, LOW); 
  }
}

void moveBackward() {
  goesForward = false;

  digitalWrite(LeftMotorBackward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);
  
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorForward, LOW);
  
}

void turnRight() {
  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);
  
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorForward, LOW);
  
  delay(500);
  
  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorForward, HIGH);
  
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorBackward, LOW);
}

void turnLeft() {
  digitalWrite(LeftMotorBackward, HIGH);
  digitalWrite(RightMotorForward, HIGH);
  
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorBackward, LOW);

  delay(500);
  
  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorForward, HIGH);
  
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorBackward, LOW);
}